CN113664809B - Novel UP type two-rotation one-movement parallel mechanism with arc guide rail - Google Patents
Novel UP type two-rotation one-movement parallel mechanism with arc guide rail Download PDFInfo
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- CN113664809B CN113664809B CN202111063910.0A CN202111063910A CN113664809B CN 113664809 B CN113664809 B CN 113664809B CN 202111063910 A CN202111063910 A CN 202111063910A CN 113664809 B CN113664809 B CN 113664809B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/003—Programme-controlled manipulators having parallel kinematics
- B25J9/0063—Programme-controlled manipulators having parallel kinematics with kinematics chains having an universal joint at the base
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
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Abstract
The invention provides a novel UP type two-rotation one-movement parallel mechanism with an arc guide rail, which can be used for a five-axis series-parallel processing machine tool and has the advantages of high reaction speed, excellent performance, simple structure and easy processing and manufacturing. The dynamic platform comprises a fixed base, a dynamic platform fixed base and a dynamic platform which are connected through a first branched chain, a second branched chain and a third branched chain, wherein the first branched chain and the second branched chain are consistent in structure, are UPR branched chains and are symmetrically distributed on two sides of the third branched chain, and the third branched chain is a PcUPR branched chain.
Description
Technical Field
The invention belongs to the technical field of robots, and particularly relates to a novel UP type two-rotation one-movement parallel mechanism containing a circular arc guide rail, which can be used for a five-axis series-parallel processing machine tool.
Background
Most of the existing industrial robots are of serial structures, each serial joint is independently driven, and the industrial robot is simple in structure, free of coupling, easy to control and large in working space. However, due to the open-loop structure of the tandem robot, the end load capacity is low, the motion inertia is large, errors and deformation among joints are overlapped, and the precision of the robot is reduced.
Compared with the traditional serial industrial robot, the parallel robot has the advantages of high precision, high rigidity, high response speed, good load performance and the like, becomes a research focus in the field of industrial robots at present, and is successfully applied to the fields of processing, automatic production lines, motion simulators and the like. Compared with a six-degree-of-freedom parallel robot, the less-degree-of-freedom parallel robot has the advantages of low coupling degree, easiness in modularization, convenience in processing and manufacturing and the like, and is more and more valued and favored by researchers. Meanwhile, the UP type two-rotation one-movement three-freedom-degree parallel robot with a specific motion mode has large-range movement capability, and a five-freedom-degree series-parallel robot which is formed by connecting two-freedom-degree A/C swinging heads in series, such as a Tricept robot, a TriVariant-A robot and the like, is taken as a main mechanism and becomes a five-axis machining tool with wide application, so that the UP type two-rotation one-movement three-freedom-degree parallel robot with a specific motion mode shows extremely high application value in the aspects of machining, cutting and the like of large structural members.
The existing UP type two-rotation one-movement three-degree-of-freedom parallel robot (such as CN104384941A) has too many spherical hinges in a mechanism, so that the structure is complex, the machining and assembling precision is difficult to guarantee, and the manufacturing is difficult. In addition, a clearance is inevitably formed between the ball head of the ball hinge and the ball socket due to the movable fit relationship, the process error and the friction during the hinge motion can aggravate the clearance error, and the precision of the mechanism is reduced. Therefore, it is necessary to provide a novel three-degree-of-freedom parallel mechanism with simple structure, few single-degree-of-freedom motion pairs and good processability.
Disclosure of Invention
In order to solve the problems in the background art, the invention provides a novel UP type two-rotation one-movement parallel mechanism with a circular arc guide rail, which can be used for a five-axis series-parallel processing machine tool and has the advantages of high reaction speed, excellent performance, simple structure and easy processing and manufacturing.
In order to achieve the purpose, the invention is realized by the following technical scheme:
the utility model provides a novel UP type two changes one and moves parallel mechanism that contains circular arc guide rail, its includes fixed baseplate, moves the platform, its characterized in that: the fixed base is connected with the movable platform through a first branched chain, a second branched chain and a third branched chain, the first branched chain and the second branched chain are consistent in structure, are UPR branched chains and are symmetrically distributed on two sides of the third branched chain, and the third branched chain is a PcUPR branched chain.
It is further characterized in that:
one end of the first branch chain is arranged on a first universal pair through a first moving pair, the first universal pair is arranged on the fixed base, and the other end of the first branch chain is arranged on the movable platform through a first rotating pair; the first universal pair comprises a first revolute pair and a second revolute pair, the first revolute pair is installed on the fixed base, the second revolute pair is installed on the first revolute pair, the rotary axis of the first revolute pair is always vertical to that of the second revolute pair, the first moving pair is installed on the second revolute pair, the rotary axis of the second revolute pair is always vertical to that of the first moving pair, and the rotary axis of the second revolute pair is always parallel to that of the first revolute pair;
one end of the second branched chain is mounted on a second universal pair through a second moving pair, the second universal pair is mounted on the fixed base, and the other end of the second branched chain is mounted on the movable platform through a second rotating pair; the second universal pair comprises a first revolute pair and a second revolute pair, the first revolute pair is arranged on the fixed base, the second revolute pair is arranged on the first revolute pair, the rotary axis of the first revolute pair is always vertical to that of the second revolute pair, the second moving pair is arranged on the second revolute pair, the rotary axis of the second revolute pair is always vertical to that of the second moving pair, and the rotary axis of the second revolute pair is always parallel to that of the second revolute pair;
the rotating axis of the first rotating pair of the first universal pair is coaxial with the rotating axis of the first rotating pair of the second universal pair, the rotating axis of the second rotating pair of the first universal pair is parallel to the rotating axis of the second rotating pair of the second universal pair, and the rotating axis of the first rotating pair is parallel to the rotating axis of the second rotating pair;
one end of the third branched chain is mounted on a third universal pair through a third moving pair, the third universal pair is mounted on the fixed base through an arc guide rail moving pair, and the other end of the third branched chain is mounted on the movable platform through a third rotating pair; the third universal pair comprises a first revolute pair and a second revolute pair, the first revolute pair is arranged on the fixed base through an arc guide rail moving pair, the second revolute pair is arranged on the first revolute pair, the rotating axis of the first revolute pair is always vertical to the rotating axis of the second revolute pair, the third moving pair is arranged on the second revolute pair, the rotating axis of the second revolute pair is always vertical to the moving axis of the third moving pair, and the rotating axis of the second revolute pair is always parallel to the rotating axis of the third revolute pair;
the arc center line of the arc guide rail sliding pair is intersected with the rotating axis of the first revolute pair of the first universal pair and the rotating axis of the first revolute pair of the second universal pair at an intersection point; the rotating axis of the first revolute pair of the third universal pair is perpendicular to the rotating axis of the first revolute pair of the first universal pair and the rotating axis of the first revolute pair of the second universal pair at an initial position and always passes through the intersection point;
the first moving pair, the second moving pair and the third moving pair are driving pairs, and input motion is realized by an electric push rod.
The invention has the beneficial effects that: the novel UP type parallel mechanism can realize two-rotation one-movement motion in space, and when the movable pair moves, the motion of two-rotation one-movement three degrees of freedom of the movable platform in space can be realized; the mechanism has the advantages that the mechanism has an arc guide rail moving pair except for the third branched chain, the structures of the three branched chains are completely consistent, no ball hinge is contained, the mechanism is easy to modularize and manufacture, and the mechanism can be connected with two-degree-of-freedom A/C swinging heads in series to form a five-degree-of-freedom hybrid processing machine tool.
Drawings
FIG. 1 is a schematic view of the overall structure of the present invention;
in the figure: 1 fixing a base; 2 a first branch chain; 21 a first universal pair; 22 a first sliding pair; 23 a first rotating pair; 3 a second branch; 31 a second gimbal pair; 32 a second sliding pair; 33 a second revolute pair; 4 a third branch; 41a third universal pair; 44 a third moving pair; 43 a third revolute pair; 44 arc guide rail moving pair; 5, rotating pair one; 6, a second revolute pair; 7 moving platform.
Detailed Description
For the purpose of enhancing the understanding of the present invention, the present invention will be described in further detail with reference to the accompanying drawings and examples, which are provided for the purpose of illustration only and are not intended to limit the scope of the present invention. The utility model provides a novel UP type two changes one and moves parallel mechanism that contains circular arc guide rail, its includes fixed baseplate 1, moves platform 7, its characterized in that: the fixed base 1 and the movable platform 7 are connected through a first branched chain 2, a second branched chain 3 and a third branched chain 4, the first branched chain 2 and the second branched chain 3 are consistent in structure and are UPR branched chains which are symmetrically distributed on two sides of the third branched chain 4, and the third branched chain 4 is a PcUPR branched chain (wherein P represents a moving pair and is an active driving pair of the mechanism, U represents a universal pair, R represents a revolute pair, and Pc represents an arc guide rail moving pair 44).
One end of the first branched chain 2 is arranged on a first universal pair 21 through a first moving pair 22, the first universal pair 21 is arranged on the fixed base 1, and the other end of the first branched chain 2 is arranged on the movable platform 7 through a first rotating pair 23; the first universal pair 21 comprises a first revolute pair 5 and a second revolute pair 6, the first revolute pair 5 is installed on the fixed base 1, the second revolute pair 6 is installed on the first revolute pair 5, the rotary axis of the first revolute pair 5 is always perpendicular to the rotary axis of the second revolute pair 6, the first revolute pair 22 is installed on the second revolute pair 6, the rotary axis of the second revolute pair 6 is always perpendicular to the moving axis of the first revolute pair 22, and the rotary axis of the second revolute pair 6 is always parallel to the rotary axis of the first revolute pair 23.
One end of the second branched chain 3 is mounted on a second universal pair 31 through a second sliding pair 32, the second universal pair 31 is mounted on the fixed base 1, and the other end of the second branched chain 3 is mounted on the movable platform 7 through a second revolute pair 33; the second universal pair 31 comprises a first revolute pair 5 and a second revolute pair 6, the first revolute pair 5 is installed on the fixed base 1, the second revolute pair 6 is installed on the first revolute pair 5, the rotary axis of the first revolute pair 5 is always vertical to the rotary axis of the second revolute pair 6, the second revolute pair 32 is installed on the second revolute pair 6, the rotary axis of the second revolute pair 6 is always vertical to the moving axis of the second revolute pair 32, and the rotary axis of the second revolute pair 6 is always parallel to the rotary axis of the second revolute pair 33; the rotation axis of the first revolute pair 5 of the first universal pair 21 is coaxial with the rotation axis of the first revolute pair 5 of the second universal pair 31, the rotation axis of the second revolute pair 6 of the first universal pair 21 is parallel to the rotation axis of the second revolute pair 6 of the second universal pair 31, and the rotation axis of the first revolute pair 23 is parallel to the rotation axis of the second revolute pair 33.
One end of the third branched chain 4 is mounted on a third universal pair 41 through a third moving pair 42, the third universal pair 41 is mounted on the fixed base 1 through an arc guide rail moving pair 44, and the other end of the third branched chain 4 is mounted on the movable platform 7 through a third rotating pair 43; the third universal pair 41 comprises a first revolute pair 5 and a second revolute pair 6, the first revolute pair 5 is mounted on the fixed base 1 through an arc guide rail moving pair 44, the second revolute pair 6 is mounted on the first revolute pair 5, the rotating axis of the first revolute pair 5 is always vertical to the rotating axis of the second revolute pair 6, the third revolute pair 42 is mounted on the second revolute pair 6, the rotating axis of the second revolute pair 6 is always vertical to the moving axis of the third revolute pair 42, and the rotating axis of the second revolute pair 6 is always parallel to the rotating axis of the third revolute pair 43; the arc center line of the arc guide rail moving pair 44 intersects with the rotating axis of the first rotating pair 5 of the first universal pair 21 and the rotating axis of the first rotating pair 5 of the second universal pair 31 at an intersection point; the rotation axis of the first revolute pair 5 of the third universal pair 41 is perpendicular to the rotation axis of the first revolute pair 5 of the first universal pair 21 and the rotation axis of the first revolute pair 5 of the second universal pair 31 at the initial position and always passes through the intersection point; the first moving pair 22, the second moving pair 32 and the third moving pair 42 are driving pairs, and input motion is realized by an electric push rod.
The invention has the beneficial effects that: the novel UP type parallel mechanism can realize two-rotation one-movement motion in space, and when the movable pair moves, the movement of three degrees of freedom of two-rotation one-movement of the movable platform 7 in space can be realized; the first revolute pair 5 of the first universal pair 21 and the second universal pair 31 are continuous rotating shafts close to the fixed base 1, and the mechanism has the advantages of simple structure, high precision, excellent dynamic performance, easiness in control and the like.
Claims (3)
1. The utility model provides a novel UP type two changes one and moves parallel mechanism that contains circular arc guide rail, its includes fixed baseplate, moves the platform, its characterized in that: the fixed base is connected with the movable platform through a first branched chain, a second branched chain and a third branched chain, the first branched chain and the second branched chain are consistent in structure, are UPR branched chains and are symmetrically distributed on two sides of the third branched chain, the third branched chain is a PcUP branched chain, Pc represents an arc guide rail moving pair, one end of the first branched chain is installed on a first universal pair through the first moving pair, the first universal pair is installed on the fixed base, and the other end of the first branched chain is installed on the movable platform through a first rotating pair; the first universal pair comprises a first revolute pair and a second revolute pair, the first revolute pair is installed on the fixed base, the second revolute pair is installed on the first revolute pair, the rotary axis of the first revolute pair is always vertical to that of the second revolute pair, the first moving pair is installed on the second revolute pair, the rotary axis of the second revolute pair is always vertical to that of the first moving pair, the rotary axis of the second revolute pair is always parallel to that of the first revolute pair, one end of the second branched chain is installed on the second universal pair through the second moving pair, the second universal pair is installed on the fixed base, and the other end of the second branched chain is installed on the moving platform through the second revolute pair; the second universal pair comprises a first revolute pair and a second revolute pair, the first revolute pair is arranged on the fixed base, the second revolute pair is arranged on the first revolute pair, the rotary axis of the first revolute pair is always vertical to that of the second revolute pair, the second revolute pair is arranged on the second revolute pair, the rotary axis of the second revolute pair is always vertical to that of the second revolute pair, the rotary axis of the second revolute pair is always parallel to that of the second revolute pair, the rotary axis of the first revolute pair is coaxial with that of the first revolute pair of the second universal pair, the rotary axis of the second revolute pair of the first universal pair is parallel to that of the second revolute pair, the rotary axis of the first revolute pair is parallel to that of the second revolute pair, one end of the third branch chain is arranged on the third universal pair through a third revolute pair, the third universal pair is mounted on the fixed base through an arc guide rail moving pair, and the other end of the third branched chain is mounted on the movable platform through a third rotating pair; the third universal pair comprises a first revolute pair and a second revolute pair, the first revolute pair is installed on the fixed base through an arc guide rail moving pair, the second revolute pair is installed on the first revolute pair, the rotating axis of the first revolute pair is always perpendicular to the rotating axis of the second revolute pair, the third moving pair is installed on the second revolute pair, the rotating axis of the second revolute pair is always perpendicular to the moving axis of the third moving pair, and the rotating axis of the second revolute pair is always parallel to the rotating axis of the third revolute pair.
2. The new UP type two-turn one-turn parallel mechanism with circular arc guide rail as claimed in claim 1, wherein: the arc center line of the arc guide rail sliding pair is intersected with the rotating axis of the first revolute pair of the first universal pair and the rotating axis of the first revolute pair of the second universal pair at an intersection point; and the rotating axis of the first revolute pair of the third universal pair is perpendicular to the rotating axis of the first revolute pair of the first universal pair and the rotating axis of the first revolute pair of the second universal pair at an initial position and always passes through the intersection point.
3. The new UP type two-rotation one-movement parallel mechanism with arc guide rail as claimed in claim 2, wherein: the first moving pair, the second moving pair and the third moving pair are driving pairs, and input motion is realized by an electric push rod.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111063910.0A CN113664809B (en) | 2021-09-10 | 2021-09-10 | Novel UP type two-rotation one-movement parallel mechanism with arc guide rail |
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| CN202111063910.0A CN113664809B (en) | 2021-09-10 | 2021-09-10 | Novel UP type two-rotation one-movement parallel mechanism with arc guide rail |
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| CN113664809B true CN113664809B (en) | 2022-08-09 |
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Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102126216A (en) * | 2011-04-12 | 2011-07-20 | 浙江理工大学 | Symmetrical-structure parallel mechanism having two-turn-one-shift three degrees of freedom |
| CN102632394A (en) * | 2012-04-18 | 2012-08-15 | 浙江理工大学 | Three- DOF (degree of freedom) parallel mechanism with two vertical intersecting rotating shafts |
| WO2017144954A1 (en) * | 2016-02-26 | 2017-08-31 | Afrough Mohsen | Six degrees of freedom parallel mechanism |
| CN107263451A (en) * | 2017-07-31 | 2017-10-20 | 福州大学 | 2R1T Three Degree Of Freedom Planar Mechanisms parallel institutions and its method of work |
| CN209902667U (en) * | 2019-04-01 | 2020-01-07 | 安徽理工大学 | Three-freedom-degree parallel electric drill |
| CN113246099A (en) * | 2021-05-14 | 2021-08-13 | 江南大学 | Three-freedom-degree parallel mechanism with continuous rotating shaft |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| SE535182C2 (en) * | 2010-06-17 | 2012-05-08 | Exechon Ab | A parallel kinematic machine with card holder |
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2021
- 2021-09-10 CN CN202111063910.0A patent/CN113664809B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102126216A (en) * | 2011-04-12 | 2011-07-20 | 浙江理工大学 | Symmetrical-structure parallel mechanism having two-turn-one-shift three degrees of freedom |
| CN102632394A (en) * | 2012-04-18 | 2012-08-15 | 浙江理工大学 | Three- DOF (degree of freedom) parallel mechanism with two vertical intersecting rotating shafts |
| WO2017144954A1 (en) * | 2016-02-26 | 2017-08-31 | Afrough Mohsen | Six degrees of freedom parallel mechanism |
| CN107263451A (en) * | 2017-07-31 | 2017-10-20 | 福州大学 | 2R1T Three Degree Of Freedom Planar Mechanisms parallel institutions and its method of work |
| CN209902667U (en) * | 2019-04-01 | 2020-01-07 | 安徽理工大学 | Three-freedom-degree parallel electric drill |
| CN113246099A (en) * | 2021-05-14 | 2021-08-13 | 江南大学 | Three-freedom-degree parallel mechanism with continuous rotating shaft |
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